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status data

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JamesNewton edited this page Jul 30, 2018 · 28 revisions

Dexter status data

The status of the Dexter robot arm is returned to DDE by the Firmware after every command. All the _DELTA and _AT values are scaled by the calibration values in the AxisCal.txt file. DDE calculates additional status data and adds it to the status array1 available to jobs. This includes slope values for each joint.

The actually returned data includes:

  • DMA_READ_DATA

  • DMA_READ_DATA

  • RECORD_BLOCK_SIZE

  • END_EFFECTOR_IO_IN

  • BASE_POSITION_AT - Current position goal. This is the position the motion controller has told the stepper to go to.

  • BASE_POSITION_DELTA - Instantaneous error in position. Difference between _AT and actual position.

  • BASE_POSITION_PID_DELTA - Accumulated corrective error signal. Force due to inertia, gravity, friction, etc...

  • BASE_POSITION_FORCE_DELTA - In follow mode, this is the offset in position necessary to keep force at zero.

  • BASE_SIN

  • BASE_COS

  • PLAYBACK_BASE_POSITION - Not used? The step and direction ticks sent to the motor in the time between status updates.

  • SENT_BASE_POSITION - Not used? Commanded position goal.

  • SLOPE_BASE_POSITION - Unused. Was rate of change of _AT. Measurement of joint speed.

In April 2018, SLOPE BASE position of Axes 6, PIVOT is force Axis 6. END_ position of Axis 7 and ANGLE is force of Axis 7.

  • PIVOT_POSITION_AT
  • PIVOT_POSITION_DELTA
  • PIVOT_POSITION_PID_DELTA
  • PIVOT_POSITION_FORCE_DELTA
  • PIVOT_SIN
  • PIVOT_COS
  • PLAYBACK_PIVOT_POSITION
  • SENT_PIVOT_POSITION
  • SLOPE_PIVOT_POSITION
  • END_POSITION_AT
  • END_POSITION_DELTA
  • END_POSITION_PID_DELTA
  • END_POSITION_FORCE_DELTA
  • END_SIN
  • END_COS
  • PLAYBACK_END_POSITION
  • SENT_END_POSITION
  • SLOPE_END_POSITION
  • ANGLE_POSITION_AT
  • ANGLE_POSITION_DELTA
  • ANGLE_POSITION_PID_DELTA
  • ANGLE_POSITION_FORCE_DELTA
  • ANGLE_SIN
  • ANGLE_COS
  • PLAYBACK_ANGLE_POSITION
  • SENT_ANGLE_POSITION
  • SLOPE_ANGLE_POSITION
  • ROT_POSITION_AT
  • ROT_POSITION_DELTA
  • ROT_POSITION_PID_DELTA
  • ROT_POSITION_FORCE_DELTA
  • ROT_SIN
  • ROT_COS
  • PLAYBACK_ROT_POSITION
  • SENT_ROT_POSITION
  • SLOPE_ROT_POSITION

To search the Wiki, use the main search box in the black bar at the top, then select WiKi to filter the results or go to https://github.com/HaddingtonDynamics/Dexter/search?type=Wikis&q= and then add your search terms to the end of the URL.

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